#ifndef _AUTO_TRACK_H
#define _AUTO_TRACK_H
#include "stm32f4xx_hal.h"
#include "CAN_bus.h"
#include "manifold_UART.h"
#include "Judge.h"
#include "Get_Pan_Tilt_Angle.h"
#include "PID.h"
#include "math.h"
extern uint8_t Auto_Track_Enable;

typedef enum
{
    calibrate_circle_center_status, // 正在标定圆心
    calibrate_radius_status,        // 正在标定半径
    limit_movement_status,          // 限制在圆环运动
} PowerRuneStatusTypeDef;

extern PowerRuneStatusTypeDef Power_Rune_Status;

extern float Power_Rune_Circle_Center_Pitch;
extern float Power_Rune_Circle_Center_Yaw;
extern float Power_Rune_Radius;

void Auto_Track(void);

#endif
